Is this genital herpes or irritations or something?!?!?!?

So a few months back I noticed some red slightly raised what looked like pimples connected to my hair on the shaft of my penis. They were painless I didnt even notice they were there till I looked and was like, WTF? I had unprotected sex the other day and I do remember that side that the bumps were on, my penis was Rubbing against her shorts while we were having sex. The weird thing was it most of them went down after a couple of days except one of them got a big like the size of an eraser and was filled with clear fluid and it popped and there was just skin left and eventually that came off, so over a total of maybe 3 days they were gone... Now is this genital herpes or something else? im kinda freaking out I can't go to the docs because no insurance but what do you guys think??